CN113050044A - Radar system and electronic device - Google Patents
Radar system and electronic device Download PDFInfo
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- CN113050044A CN113050044A CN202110462162.7A CN202110462162A CN113050044A CN 113050044 A CN113050044 A CN 113050044A CN 202110462162 A CN202110462162 A CN 202110462162A CN 113050044 A CN113050044 A CN 113050044A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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Abstract
The radar system is provided with a master processor and a slave processor, wherein the master processor and the slave processor are respectively connected with different signal receiving unit groups and used for processing signals received by different signal receiving unit groups; on the other hand, the detection precision of the barrier is improved by adding the receiving unit and the processor, so that the data acquisition capacity and the data processing capacity are improved in a multiplied way.
Description
Technical Field
The application relates to the technical field of radars, in particular to a radar system and electronic equipment.
Background
The existing Single-Input Multi-Output (SIMO) obstacle avoidance radar adopts a structure that one Single processor chip acquires and processes radar signals, the upper limit of the data acquisition capacity and the upper limit of the data processing capacity often depend on the performance index of the Single processor, the performance index of the Single processor depends on the manufacturing capacity of a chip manufacturer, but the performance of the Single chip is very difficult to improve in multiples, so that the data acquisition capacity and the data processing capacity of the SIMO obstacle avoidance radar are limited.
Disclosure of Invention
The present application is directed to, for example, providing a radar system and an electronic device to improve data receiving capability and processing capability of an existing radar system.
The embodiment of the application can be realized as follows:
in a first aspect, the present application provides a radar system comprising: the system comprises a main processor, a slave processor and a signal receiving module;
the signal receiving module comprises a first signal receiving unit group and a second signal receiving unit group;
the master processor is connected with the first signal receiving unit group, the slave processor is connected with the second signal receiving unit group, and the master processor is connected with the slave processor;
the main processor determines first state data of the obstacle according to the detection signal reflected by the obstacle and received by the first signal receiving unit group;
the slave processor determines second state data of the obstacle according to the detection signal reflected by the obstacle and received by the second signal receiving unit group;
and the slave processor sends the second state data to the master processor, and the master processor obtains the accurate state data of the obstacle by averaging the first state data and the second state data.
In an optional embodiment, the first status data and the second status data each include distance information of an obstacle;
the main processor performs first-order Fourier transform according to the detection signal reflected by the obstacle to generate first distance information of the obstacle;
and the slave processor performs first-order Fourier transform according to the detection signal reflected by the obstacle to generate second distance information of the obstacle.
In an alternative embodiment, the precise status data includes precise distance information;
the slave processor sends second distance information of the obstacle to the master processor;
and the main processor calculates the average value according to the first distance information and the second distance information to obtain the accurate distance information of the obstacle.
In an alternative embodiment, the first status data and the second status data each include velocity information of an obstacle;
the main processor carries out second-order Fourier transform according to the detection signal reflected by the obstacle to obtain first speed information of the obstacle;
and the secondary processor performs second-order Fourier transform according to the detection signal reflected by the obstacle to obtain second speed information of the obstacle.
In an alternative embodiment, the precision status data comprises precision rate information;
the slave processor sends second speed information of the obstacle to the master processor;
and the main processor obtains the accurate speed information of the obstacle by averaging according to the first speed information and the second speed information.
In an alternative embodiment, the precise status data includes angle information;
and the main processor performs third-order Fourier transform according to the accurate distance information to determine the angle information of the obstacle.
In an alternative embodiment, the radar system includes a signal transmitting module;
the main processor is connected with the signal transmitting module and is used for controlling the signal transmitting module to transmit a detection signal;
the first signal receiving unit group and the second signal receiving unit group receive the detection signal reflected by the obstacle.
In an optional embodiment, in a case where the master processor controls the signal transmitting module to transmit a detection signal, the master processor transmits a signal receiving instruction to the slave processor, and the slave processor and the master processor respectively process the reflected detection signal to determine the state data of the obstacle.
In alternative embodiments, the number of slave processors is one or more.
In a second aspect, the present application provides an electronic device comprising a radar system as described in any one of the preceding embodiments.
Compared with the prior art, the radar system and the electronic equipment provided by the application have the following beneficial effects at least:
the radar system and the electronic equipment provided by the embodiment of the application comprise: the system comprises a main processor, a slave processor and a signal receiving module; the signal receiving module comprises a first signal receiving unit group and a second signal receiving unit group; the master processor is connected with the first signal receiving unit group, the slave processor is connected with the second signal receiving unit group, and the master processor is connected with the slave processor; the master processor and the slave processor are respectively connected with the signal receiving unit groups, more signals can be collected, meanwhile, the master processor and the slave processor respectively process the collected signals to obtain state data of the obstacle, the master processor calculates an average value according to the state data obtained respectively to obtain accurate state data, on one hand, the data processing capacity of the radar system is improved by arranging the master processor and the slave processor, on the other hand, the detection precision of the obstacle is improved by processing a plurality of data to calculate the average value, and therefore the data collection capacity and the data processing capacity of the radar system can be improved in multiples.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram of a radar system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of another radar system provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of another radar system provided by an embodiment of the present application;
fig. 4 is a schematic view of the angle determination of the obstacle.
Icon: 100-a radar system; 110-a main processor; 120-a slave processor; 130-a signal transmitting module; 140-a signal receiving module; 141-first signal receiving unit group; 142-the second signal receiving element group.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer", etc. are used to indicate an orientation or positional relationship based on that shown in the drawings or that the product is usually placed in use, the description is merely for convenience and simplicity, and it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore should not be construed as limiting the present application.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
The SIMO obstacle avoidance radar is a detection device commonly used on unmanned vehicles such as unmanned aerial vehicles, unmanned vehicles and unmanned ships, the existing SIMO obstacle avoidance radar adopts a structure that one transmits multiple receives, a single processor chip carries out data acquisition and data processing of radar signals, the upper limit of the data acquisition capacity and the upper limit of the data processing capacity of the single processor chip often depend on the performance index of the single processor, the performance index of the single processor depends on the manufacturing capacity of a chip manufacturing plant, generally speaking, the performance of the single processor chip is very difficult to improve in multiples, so that the data acquisition capacity and the data processing capacity of the SIMO obstacle avoidance radar are limited, and the SIMO obstacle avoidance radar cannot be obviously improved.
In order to improve the above problem, the present embodiment provides a radar system 100, which is configured to improve the data acquisition capability and the data processing capability to some extent.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram illustrating functional modules of a radar system 100 according to an embodiment of the present disclosure. The present embodiment provides a radar system 100 including: a master processor 110, a slave processor 120 and a signal receiving module 140; the signal receiving module 140 includes a first signal receiving unit group 141 and a second signal receiving unit group 142; the master processor 110 is connected to the first signal receiving unit group 141, the slave processor 120 is connected to the second signal receiving unit group 142, and the master processor 110 is connected to the slave processor 120.
The first signal receiving unit group 141 is configured to collect or receive a detection signal reflected by an obstacle and send the collected or received detection signal to the main processor 110, and the main processor 110 determines first state data of the obstacle according to the detection signal reflected by the obstacle and received or collected by the first signal receiving unit group 141.
The second signal receiving unit group 142 is also configured to collect or receive the detection signal reflected by the obstacle, and send the collected or received detection signal to the slave processor 120, and the slave processor 120 determines the second state data of the obstacle according to the detection signal reflected by the obstacle received by the second signal receiving unit group 142.
After the master processor 110 and the slave processor 120 respectively obtain the state data of the obstacle according to the corresponding signals, the slave processor 120 sends the second state data to the master processor 110, and the master processor 110 obtains the average value according to the first state data and the second state data to obtain the accurate state data of the obstacle.
In the scheme provided by the embodiment of the application, the master processor and the slave processor are arranged, the master processor 110 and the slave processor 120 are respectively connected with different signal receiving unit groups and used for processing signals received by different signal receiving unit groups, more signal receiving units can be additionally arranged in a mode of arranging the master processor and the slave processor, the data acquisition capacity of the radar system 100 is improved, the problems of limited data acquisition capacity and the like caused by limited performance of a processor chip are solved, in addition, the master processor 110 and the slave processor 120 respectively calculate state data of obstacles, then the master processor 110 carries out comprehensive collection, and the accurate state data of the obstacles are obtained through calculation, on one hand, the master processor and the slave processor improve the data processing capacity of the radar system 100, and the data processing capacity of the radar system 100 is increased in multiples; on the other hand, the performance of the processor is determined and the upper limit of the number of signal channels connected with the port number is set, and the stronger the performance of the processor is, the more the port number is, the more channels can be connected, and the more data can be processed; after the slave processor is added, more signal channels can be set for the radar, namely, the more data bases are processed, the more accurate the obtained detection precision is. The detection precision of the barrier is improved by adding the receiving unit and the processor.
Because the radar system 100 provided by the embodiment of the application adopts the master processor 110 and the slave processor 120 at the same time, the number of data acquisition channels of the SIMO obstacle avoidance radar is increased, and in addition, the master processor and the slave processor are arranged, so that the distance and speed operations of the original SIMO obstacle avoidance radar are shared between two chips, and the total computing capacity is approximately equal to the sum of the computing capacities of the processors.
In the radar system 100 provided in the embodiment of the present application, a transmit-receive mode is adopted, and the master processor 110 and the slave processor 120 respectively perform data acquisition and data processing on radar signals. The master processor 110 is connected to the slave processors 120 to enable transmission or reception of data or instructions. For example, the master processor 110 and the slave processor 120 may be connected through a Serial Peripheral Interface (SPI) and an ADC synchronous IO.
The signal receiving module 140 includes a first signal receiving unit group 141 and a second signal receiving unit group 142, wherein the first signal receiving unit group is a receiving unit for transmitting a received signal to the master processor 110, and the second signal receiving unit group 142 is a receiving unit for transmitting a received signal to the slave processor 120. The first signal receiving unit group 141 and the second signal receiving unit group 142 each include a plurality of signal receiving units, which may be radio frequency receiving units, but are not limited thereto. In some other implementations, if there are a greater number of slave processors 120, a greater number of signal receiving unit groups may be provided.
In addition to the signal receiving module 140, the radar system 100 for transmitting and receiving signals provided in the embodiment of the present application further includes a signal transmitting module 130. The signal transmitting module 130 is connected to the main processor 110, the signal transmitting module 130 may transmit a detection signal under the control of the main processor 110, the detection signal may be reflected by an obstacle, and the first signal receiving unit group 141 and the second signal receiving unit group 142 receive the detection signal reflected by the obstacle.
In some possible implementations, after the main processor 110 controls the signal transmitting module 130 to transmit the detection signal, the main processor 110 generates and transmits a signal receiving instruction, where the signal receiving instruction may be executed by the main processor 110, and the main processor 110 processes the detection signal reflected by the obstacle received by the first signal receiving unit group 141 to determine the state data of the obstacle; the signal receiving instruction is further sent to the slave processor 120, and in synchronization with the master processor 110, the slave processor 120 processes the detection signal reflected by the obstacle received by the second signal receiving unit group 142 to determine the state data of the obstacle.
In some possible implementations, the detection signal may be a millimeter wave detection signal, the main processor 110 controls the signal transmitting module 130 of the radar system 100 to transmit a millimeter wave signal to detect an obstacle, simultaneously sending an instruction to inform the master processor and the slave processor to start a data acquisition function, when an obstacle is detected, the obstacle can reflect a millimeter wave detection signal and generate a certain frequency difference according to the radar reflection area of the obstacle and the distance from a radar, a plurality of signal receiving unit groups receive the reflection signal, a plurality of paths of difference frequency signals are generated by frequency mixing of a receiving chip and amplified by an operational amplifier chip, the master processor and the slave processor simultaneously acquire original signals, and the master processor and the slave processor determine state data of the obstacle according to the acquired original signals, and the respectively determined status data is summarized to the main processor 110, and the main processor 110 obtains the accurate status data of the obstacle according to the respectively determined status data.
In the embodiment of the present application, the state data obtained by the master processor 110 according to the original signal collected by the first signal receiving unit group 141 is referred to as first state data, and the state data obtained by the slave processor 120 according to the original signal collected by the second signal receiving unit group 142 is referred to as second state data. It should be noted that "first," "second," and the like are used merely to distinguish one description from another, and are not intended to indicate or imply relative importance. The first state data and the second state data have the same data type and the like, and the difference is only that the original signals are received by different signal receiving units and are obtained by processing through different processors. In the following description, when both the first status data and the second status data are applied, they are referred to as "status data", and when only one of them is applied, they are respectively indicated.
In some possible implementations, the status data includes distance information of the obstacle and velocity information of the obstacle.
The main processor 110 performs first-order fourier transform according to the detection signal reflected by the obstacle to generate first distance information of the obstacle; the second distance information of the obstacle is generated from the processor 120 by performing a first order fourier transform on the detection signal reflected from the obstacle. It should be noted that the process of calculating and generating the first distance information by the master processor 110 is the same as the process of calculating and generating the second distance information by the slave processor 120, and this embodiment is only illustrated by one of the processes, for example, a model of a target real-time echo signal with a distance of R and a millimeter wave radar in an FMCW system is:
an(t)＝A0cos(j2πf0(t-τ)+jπμ(t-τ)2)
wherein f is0For transmitting signal frequency, N is the number of chirp (frequency modulation signal) in one frame, N is 1,2, …, N is chirp period, mu is FWCM chirp rate, a0In order to transmit the power of the signal,
for a target echo time delay, tnAnd v is the time difference between the nth chirp and the first chirp, and v is the moving speed of the target relative to the radar system.
The master and slave processors each perform the following calculation process to obtain distance information, with R representing the distance. Because the carrier frequency and bandwidth of the echo signal are too large, the receiver AD sampling can not complete the undistorted sampling, and the receiver passes through the echo signal sn(t) with the transmitted signal znAnd (t) removing carrier frequency and broadband by a frequency mixing mode, and only retaining intermediate frequency signals (baseband signals) of Doppler frequency shift information generated by target time delay and motion speed. The signal model after the frequency mixing of the radar receiver and the local oscillator signal is as follows:
wherein, KrRemoving high-frequency terms filtered by a millimeter wave radar low-pass filter for a target reflection coefficient, and neglecting an initial phase to obtain an intermediate frequency signal:
where a first order fourier transform is performed on the signal model.
Wherein the content of the first and second substances,
for a constant term, it can be seen that the frequency spectrum of the real signal is a line symmetric about the center, the peak point of the positive frequency is taken, so that
Obtaining:
where f represents the frequency corresponding to the peak point, Δ f represents the step value of the spectrum abscissa, i.e., the pulse width twI represents the position of the discrete step frequency corresponding to the peak point, and B ═ μ twμ/Δ f denotes a transmission signal bandwidth.
It should be noted that the first distance information may be determined by the main processor 110 according to echo signals acquired multiple times; the second distance information may be determined from the processor 120 based on the echo signals acquired a plurality of times. The first distance information and the second distance information may include single distance data, or may include a distance array, and when the distance information includes single distance data, the distance information may be a distance average value obtained by the master processor 110 or the slave processor 120 according to multiple detections; when the distance information includes the distance array, it may be distance data of the obstacle calculated by the master processor 110 or the slave processor 120 according to the collected signals received a plurality of times.
When the distance data included in the distance information is accumulated by a certain amount (for example, n times), for example, a plurality of single distance data may be accumulated and determined, or the data amount of the distance array may reach a certain amount, in such a case, the main processor 110 performs second-order fourier transform on the detection signal reflected by the obstacle to obtain first rate information of the obstacle, and the sub processor 120 performs second-order fourier transform on the detection signal emitted by the obstacle to obtain second rate information of the obstacle.
In a possible implementation, since the range-oriented signal is a real signal, and the real signal can be represented as a sum of two complex signals with opposite indexes, the FFT spectrum of the nth range bin can be represented as:
in this case, a second order fourier transform is performed on the signal model. Order to
tn＝ntpWhere f is the spectrum value corresponding to the ith distance unit, i is 1,2, …, Nr，NrNumber of distance-wise samples, FsIs the sampling frequency, tpIs the signal transmission interval. The result of the two-dimensional FFT is:
wherein the content of the first and second substances,
k representsThe number of cycles of the sequence of discrete FFT cycles. Let k equal to 0, omega-2 pi Ci-2 pi k ═ 0, i.e. taking the abscissa of the peak point yields:
when the rate information is accumulated a certain number of times (e.g., n/2), the slave processor 120 transmits the generated second state data to the master processor 110. The above accumulation means: the master processor and the slave processor continuously generate rate data according to the signal received by the signal receiving module 140, and when the number of the calculated rate data reaches a certain number (e.g., n/2), the slave processor 120 packages the first state data and sends the first state data to the master processor 110.
In this embodiment, a dual processor is used for illustration, and for the distance data d2n of n channels of the slave processor, it is finally required to be processed by the master processor, and each one only needs to collect n/2 times of distances and summarize the distance data to the master processor, and perform FFT in an angle dimension. Assuming there are 3 processors, add up n/3 times, and so on. Therefore, n is always a multiple of 2 for the dual processors and a multiple of 3 for the multiple processors, and the number of the accumulated distance data is an integer, so that the calculation can not be influenced.
The main processor 110 generates accurate state data according to the first state data and the second state data. The accurate state data comprises accurate distance information and accurate speed information.
For example, the slave processor 120 sends the second distance information and the accumulated second rate information to the master processor 110, and the master processor 110 obtains the accurate distance information by averaging the first distance information and the second distance information; the main processor 110 obtains accurate rate information by averaging the accumulated first rate information and second rate information.
It should be noted that, since the detection signal is transmitted by the same signal transmitting module 130, the master processor 110 and the slave processor 120 receive the echo signal reflected by the obstacle synchronously, and thus, the calculation of the first distance information, the second distance information, the first speed information, and the second speed information is performed synchronously.
In some possible implementations, the precise state data further includes angle information; the main processor 110 determines the angle information of the obstacle by performing a third order fourier transform according to the precise distance information.
It should be understood that the first state data includes n/2 distance information, the second state data includes n/2 distance information, and the master processor 110 superimposes the accumulated distance information d2 × n/2 of the slave processor 120 and the accumulated speed information d1 × n/2 of the master processor 110 to perform a third-order fourier transform to obtain the precise angle information θ of the obstacle, for example, please refer to fig. 4:
setting a target echo signal:
A＝A0cos(j2πf0(t-τ)+jπμ(t-τ)2)
for a plurality of receiving channels of the radar, the mathematical model of each channel echo is as follows:
where M is the number of virtual receive apertures, ωxThe phase difference caused for the target angle.
Where d is the receive antenna spacing. And performing FFT on the target point with the distance R and the speed v to obtain:
and (3) taking the abscissa of the peak point to obtain:
namely, the direction and the angle of a radar receiving channel have a sin transformation relation. Based on the above transformation derivation process, in summary, the two-dimensional FFT results show that the N chirp accumulates the formed signal space: the chirp direction represents the distance between the target and the radar, the direction accumulated along the chirp direction represents the radial speed of the target relative to the radar, the signal space is a distance-speed space matrix of the target, and the two directions are the distance direction and the speed direction of the target respectively. The channel-wise FFT represents the angular dimension information of the target.
It should be noted that the number of the slave processors 120 is one or more, as shown in fig. 3, the radar system 100 shown in fig. 3 includes a plurality of slave processors 120, and each slave processor 120 is added, and accordingly, a signal receiving unit may be added, so that the data acquisition capability of the radar system 100 may be expanded, and the data processing capability of the radar system 100 may also be enhanced.
The master processor 110 and the slave processor 120 may be integrated circuit chips having signal processing capability. The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, a microprocessor, a single chip, and so on, which is not limited in this embodiment.
The operation principle of the radar system 100 according to the embodiment of the present application will be described below by taking the number of the slave processors 120 as an example.
The master processor and the slave processor respectively perform first-order Fourier transform on the acquired signals to obtain distance information of the obstacle, and after the distance data determined by the master processor and the slave processor are accumulated for n times, the master processor and the slave processor simultaneously perform second-order Fourier transform to obtain speed information v1 and v2 of the obstacle. After the master and slave processors respectively calculate the velocity information and accumulate n/2 times again, the slave processor 120 will package the data of the obtained distance information d2 and velocity information v2 × n/2 and send the data to the master processor 110 through the SPI communication interface. The master processor 110 obtains the precise distance d of the obstacle by adding and averaging the distance information d2 of the slave processor 120 and the distance information d1 of the master processor 110, obtains the precise speed v of the obstacle by adding and averaging the speed information v2 × n/2 of the slave processor 120 and the speed information v1 × n/2 of the master processor 110, and adds the accumulated distance information d2 × n/2 of the slave processor 120 and the accumulated distance information d1 × n/2 of the master processor 110 to perform the third-order fourier transform to obtain the precise angle information θ of the obstacle.
In a second aspect, the present application provides an electronic device comprising a radar system 100 as in any one of the previous embodiments. It should be noted that the electronic device provided in the present embodiment has a technical effect substantially the same as that of the radar system 100 provided in the above embodiment according to a technical principle, and for a brief description, the present embodiment is not described in detail, and reference is made to relevant contents in the foregoing embodiment for a non-exhaustive description of the present embodiment.
The electronic equipment can be an unmanned aerial vehicle, an unmanned vehicle or other electronic equipment with obstacle avoidance requirements.
In summary, the present application provides a radar system and an electronic device, wherein a master processor and a slave processor are provided, the master processor and the slave processor are respectively connected with different signal receiving unit groups and are used for processing signals received by different signal receiving unit groups, more signal receiving units can be added by setting the master processor and the slave processor, so as to improve the data acquisition capability of the radar system, and solve the problems of limited data acquisition capability and the like caused by limited performance of a processor chip; on the other hand, the detection precision of the obstacle is improved by adding the receiving unit and the processor, so that the data acquisition capacity and the data processing capacity of the radar system can be improved in multiples.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A radar system, characterized in that the radar system comprises: the system comprises a main processor, a slave processor and a signal receiving module;
the signal receiving module comprises a first signal receiving unit group and a second signal receiving unit group;
the master processor is connected with the first signal receiving unit group, the slave processor is connected with the second signal receiving unit group, and the master processor is connected with the slave processor;
the main processor determines first state data of the obstacle according to the detection signal reflected by the obstacle and received by the first signal receiving unit group;
the slave processor determines second state data of the obstacle according to the detection signal reflected by the obstacle and received by the second signal receiving unit group;
and the slave processor sends the second state data to the master processor, and the master processor obtains the accurate state data of the obstacle by averaging the first state data and the second state data.
2. The radar system of claim 1, wherein the first status data, the second status data each include distance information for an obstacle;
the main processor performs first-order Fourier transform according to the detection signal reflected by the obstacle to generate first distance information of the obstacle;
and the slave processor performs first-order Fourier transform according to the detection signal reflected by the obstacle to generate second distance information of the obstacle.
3. The radar system of claim 2, wherein the precise status data includes precise range information;
the slave processor sends second distance information of the obstacle to the master processor;
and the main processor calculates the average value according to the first distance information and the second distance information to obtain the accurate distance information of the obstacle.
4. The radar system of claim 1, wherein the first status data, the second status data each include velocity information of an obstacle;
the main processor carries out second-order Fourier transform according to the detection signal reflected by the obstacle to obtain first speed information of the obstacle;
and the secondary processor performs second-order Fourier transform according to the detection signal reflected by the obstacle to obtain second speed information of the obstacle.
5. The radar system of claim 4, wherein the precise status data includes precise rate information;
the slave processor sends second speed information of the obstacle to the master processor;
and the main processor obtains the accurate speed information of the obstacle by averaging according to the first speed information and the second speed information.
6. The radar system of claim 3, wherein the precise status data includes angle information;
and the main processor performs third-order Fourier transform according to the accurate distance information to determine the angle information of the obstacle.
7. The radar system of claim 1, wherein the radar system comprises a signal transmitting module;
the main processor is connected with the signal transmitting module and is used for controlling the signal transmitting module to transmit a detection signal;
the first signal receiving unit group and the second signal receiving unit group receive the detection signal reflected by the obstacle.
8. The radar system of claim 7, wherein in a case where the master processor controls the signal transmitting module to transmit a detection signal, the master processor transmits a signal receiving instruction to the slave processor, and the slave processor and the master processor respectively process the reflected detection signal to determine the state data of the obstacle.
9. The radar system of claim 1, wherein the number of slave processors is one or more.
10. An electronic device, characterized in that the electronic device comprises a radar system according to any one of claims 1 to 9.
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| CN202110462162.7A CN113050044B (en) | 2021-04-27 | 2021-04-27 | Radar system and electronic device |
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